/*
 * GazeboClient.h
 *
 *  Created on: 2011-03-27
 *      Author: kamil
 */

#ifndef GAZEBOCLIENT_H_
#define GAZEBOCLIENT_H_

#include <gazebo.h>
#include <log4cxx/logger.h>

class GazeboClient {
public:
	GazeboClient();
	virtual ~GazeboClient();

	/**
	 * Sets the given ball position and stops all ball movement
	 * (linear and angular velocity are set to 0)
	 */
	void setBallPosition(double x, double y, double z = 0.05);

private:
	///Client to gazebo connection
	libgazebo::Client* client;
	///sim iface instance
	libgazebo::SimulationIface* simIface;

	/// logger
	static log4cxx::LoggerPtr logger;
};

#endif /* GAZEBOCLIENT_H_ */
